From 22413bb20e37150718437fdd51642b8ddd310e71 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Tue, 19 Apr 2022 10:49:33 +0200
Subject: [PATCH] tune processor vis odom
---
yaml/processor_visual_odometry.yaml | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/yaml/processor_visual_odometry.yaml b/yaml/processor_visual_odometry.yaml
index bcfa29f..4b4c144 100644
--- a/yaml/processor_visual_odometry.yaml
+++ b/yaml/processor_visual_odometry.yaml
@@ -4,13 +4,13 @@ keyframe_vote:
voting_active: true
# Trigger a new keyframe creation as well as detection of new keypoints in last frame
# when the track number goes below min_features_for_keyframe in incoming
- min_features_for_keyframe: 30
+ min_features_for_keyframe: 25
#Â Use a robust cost function
apply_loss_function: true
# Select the best new Keypoints when performing detection
-max_new_features: 5
+max_new_features: 4
####################################
# ProcessorVisualOdometry parameters
@@ -24,8 +24,8 @@ fast_params:
# Lucas Kanade tracking parameters
klt_params:
- patch_width: 17
- patch_height: 17
+ patch_width: 21
+ patch_height: 21
nlevels_pyramids: 3
klt_max_err: 0.2
@@ -35,9 +35,9 @@ grid_params:
nbr_cells_h: 6 # horizontal
nbr_cells_v: 5 # vertical
# minimum margin of the region of interest from the edges of the image
- margin: 6
+ margin: 10
# reduce the size of each region of interest by n pixels to prevent keypoints from being too close
- separation: 6
+ separation: 10
# Keep the number of tracks below
max_nb_tracks: 30
--
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